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modbus_test
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unknown 2024-09-17 14:19:51 +03:00
parent d9d13224e8
commit 0abafb4ed0
3 changed files with 109 additions and 133 deletions
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64
client_socket.py
View File

@ -12,10 +12,10 @@ s.connect((host, port))
# print(s) # print(s)
def send_data(data): def send_data(data):
response = None response = None
if data["reqType"] != 'AddRCC': # if data["reqType"] != 'AddRCC':
s.send(str.encode(json.dumps(data))) s.send(str.encode(json.dumps(data)))
response_data = s.recv(1024) response_data = s.recv(1024)
response = json.loads(response_data) response = json.loads(response_data)
if data["reqType"] == 'query': if data["reqType"] == 'query':
# pprint({"request":data["queryAddr"], "response":response["queryData"]}) # pprint({"request":data["queryAddr"], "response":response["queryData"]})
@ -50,21 +50,21 @@ print('world', world_coord)
print('remote command count', send_data(make_query_data(['RemoteCmdLen']))) print('remote command count', send_data(make_query_data(['RemoteCmdLen'])))
def make_world_step(type, p): def make_world_step(type, p):
speed= 10.0 speed= 80.0
smooth= 9 smooth= 9
step = { step = {
"oneshot": "1", "oneshot": "0",
"delay":"0.0", "delay":"0.0",
"speed":str(speed),"smooth":str(smooth), "speed":str(speed),"smooth":str(smooth),
"coord":"0","tool":"1", "coord":"0","tool":"1",
"ckStatus":"0xFF", "ckStatus":"0x3F",
} }
if type == 'line': if type == 'line':
m0,m1,m2,m3,m4,m5=p m0,m1,m2,m3,m4,m5=p
step.update({ step.update({
"action": "10", "action": "10",
"m0": x + m0, "m1": y + m1, "m2": z + m2, "m0": round(x + m0,3), "m1": round(y + m1,3), "m2": round(z + m2,3),
"m3": u + m3, "m4": v + m4, "m5": w + m5, "m3": round(u + m3,3), "m4": round(v + m4,3), "m5": round(w + m5,3),
"m6": 0, "m7": 0, "m6": 0, "m7": 0,
}) })
elif type == 'curve': elif type == 'curve':
@ -82,30 +82,6 @@ def make_world_step(type, p):
for s in step: for s in step:
step[s] = str(step[s]) step[s] = str(step[s])
return step return step
k = 4
# data = [
# ('line',(10*k, 10*k, 0,
# 0, 0, 0)),
# ('line',(0, 20*k, 0,
# 0, 0, 0)),
# ('line',(-10*k, 10*k, 0,
# 0, 0, 0)),
# ('line',(0, 0, 0,
# 0, 0, 0)),
# ('line',(0, 0, 0,
# 0, -10, 0)),
# ('curve',(0, -10*k, 0,
# -10, 0, 0,
# -20*k, -10*k, 0,
# 0, -10, 0)),
# ('line',(-20*k, -10*k, 0,
# 0, 0, 0)),
# ('curve',(0, -20*k, 0,
# 0, 0, 0,
# 0, -10*k, 0,
# 0, 0, 0)),
# ]
result = [] result = []
with open('data/half-sphere.nc.result', 'r') as fp: with open('data/half-sphere.nc.result', 'r') as fp:
for line in fp: for line in fp:
@ -114,7 +90,7 @@ with open('data/half-sphere.nc.result', 'r') as fp:
for item in data: for item in data:
prep[item[:1]] = float(item[1:]) prep[item[:1]] = float(item[1:])
result.append( result.append(
( make_world_step(
'line', 'line',
( (
prep.get('X', 0), prep.get('Y', 0), prep.get('Z', 0), prep.get('X', 0), prep.get('Y', 0), prep.get('Z', 0),
@ -123,23 +99,23 @@ with open('data/half-sphere.nc.result', 'r') as fp:
) )
) )
# Изменили глобальную скорость на 11% # Изменили глобальную скорость на 11%
send_data(make_command_data(['modifyGSPD', str(20 * 10)])) send_data(make_command_data(['modifyGSPD', str(50 * 10)]))
# Поставили Y026 в TRUE # Поставили Y026 в TRUE
# send_data(make_addrcc_data([ # send_data(make_addrcc_data([
# {"oneshot":"0", "action":"200","type":"0","io_status":"0", "point":"15"}, # {"oneshot":"0", "action":"200","type":"0","io_status":"0", "point":"15"},
# {"oneshot":"0", "action":"200","type":"0","io_status":"0", "point":"15", "delay":"1"}, # {"oneshot":"0", "action":"200","type":"0","io_status":"0", "point":"15", "delay":"1"},
# ])) # ]))
send_data(make_addrcc_data( send_data(make_addrcc_data([
[ {"oneshot":"0", "action":"200","type":"0","io_status":"1", "point":"14"},
# {"oneshot":"0", "action":"200","type":"0","io_status":"1", "point":"14"},
# {"oneshot":"0", "action":"51","isUse":"1","speed":str(8*1000)} # {"oneshot":"0", "action":"51","isUse":"1","speed":str(8*1000)}
] ]))
+[make_world_step(*p) for p in result] for r in result:
+[ send_data(make_addrcc_data([r], '0'))
# send_data(make_addrcc_data(result[10:20]))
send_data(make_addrcc_data([
{"oneshot":"0", "action":"200","type":"0","io_status":"0", "point":"14"},
# {"oneshot":"0", "action":"51","isUse":"0"}, # {"oneshot":"0", "action":"51","isUse":"0"},
# {"oneshot":"0", "action":"200","type":"0","io_status":"0", "point":"14"}, ], '0'))
]
))
print('remote command count', send_data(make_query_data(['RemoteCmdLen']))) print('remote command count', send_data(make_query_data(['RemoteCmdLen'])))
send_data(make_command_data(['actionSingleCycle'])) send_data(make_command_data(['actionSingleCycle']))
# send_data(make_command_data(['actionStop'])) # send_data(make_command_data(['actionStop']))

176
data/half-sphere.nc.result
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@ -1,89 +1,89 @@
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X121.284 Y-2.401 U-9811.134 X121.284 Y-2.401 U-98.11134
X121.308 Y-0.035 U-9810.017 X121.308 Y-0.035 U-98.10016999999999
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2
prepare.py
View File

@ -25,7 +25,7 @@ with open(file, 'r') as fp:
step = prep['G'] step = prep['G']
if step == '01': if step == '01':
if 'C' in prep: if 'C' in prep:
prep['U'] = prep.pop('C') prep['U'] = float(prep.pop('C')) / 100
result.append([f"{p}{prep[p]}" for p in prep if p in ['X', 'Y', 'Z', 'U', 'V', 'W']]) result.append([f"{p}{prep[p]}" for p in prep if p in ['X', 'Y', 'Z', 'U', 'V', 'W']])
with open(f"{file}.result", 'w') as fp: with open(f"{file}.result", 'w') as fp: